feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (tier4#587)

* feat(tier4_planning/vehicle_plugin): make plugins size scalable

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* remove space

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* scaling

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Author: TakaHoribe

common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp

@@ -19,6 +19,7 @@
 #include <rviz_common/uniform_string_stream.hpp>
 
 #include <OgreHardwarePixelBuffer.h>
+#include <X11/Xlib.h>
 
 #include <algorithm>
 #include <iomanip>
@@ -28,20 +29,28 @@ namespace rviz_plugins
 {
 MaxVelocityDisplay::MaxVelocityDisplay()
 {
+  const Screen * screen_info = DefaultScreenOfDisplay(XOpenDisplay(NULL));
+
+  constexpr float hight_4k = 2160.0;
+  const float scale = static_cast<float>(screen_info->height) / hight_4k;
+  const int left = static_cast<int>(std::round(595 * scale));
+  const int top = static_cast<int>(std::round(280 * scale));
+  const int length = static_cast<int>(std::round(96 * scale));
+
   property_topic_name_ = new rviz_common::properties::StringProperty(
     "Topic", "/planning/scenario_planning/current_max_velocity",
     "The topic on which to publish max velocity.", this, SLOT(updateTopic()), this);
   property_text_color_ = new rviz_common::properties::ColorProperty(
     "Text Color", QColor(255, 255, 255), "text color", this, SLOT(updateVisualization()), this);
   property_left_ = new rviz_common::properties::IntProperty(
-    "Left", 128, "Left of the plotter window", this, SLOT(updateVisualization()), this);
+    "Left", left, "Left of the plotter window", this, SLOT(updateVisualization()), this);
   property_left_->setMin(0);
   property_top_ = new rviz_common::properties::IntProperty(
-    "Top", 128, "Top of the plotter window", this, SLOT(updateVisualization()));
+    "Top", top, "Top of the plotter window", this, SLOT(updateVisualization()));
   property_top_->setMin(0);
 
   property_length_ = new rviz_common::properties::IntProperty(
-    "Length", 96, "Length of the plotter window", this, SLOT(updateVisualization()), this);
+    "Length", length, "Length of the plotter window", this, SLOT(updateVisualization()), this);
   property_length_->setMin(10);
   property_value_scale_ = new rviz_common::properties::FloatProperty(
     "Value Scale", 1.0 / 4.0, "Value scale", this, SLOT(updateVisualization()), this);

common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp

@@ -17,23 +17,32 @@
 #include <QPainter>
 #include <rviz_common/uniform_string_stream.hpp>
 
-#include <algorithm>
+#include <X11/Xlib.h>
 
+#include <algorithm>
 namespace rviz_plugins
 {
 ConsoleMeterDisplay::ConsoleMeterDisplay()
 {
+  const Screen * screen_info = DefaultScreenOfDisplay(XOpenDisplay(NULL));
+
+  constexpr float hight_4k = 2160.0;
+  const float scale = static_cast<float>(screen_info->height) / hight_4k;
+  const auto left = static_cast<int>(std::round(512 * scale));
+  const auto top = static_cast<int>(std::round(128 * scale));
+  const auto length = static_cast<int>(std::round(256 * scale));
+
   property_text_color_ = new rviz_common::properties::ColorProperty(
     "Text Color", QColor(25, 255, 240), "text color", this, SLOT(updateVisualization()), this);
   property_left_ = new rviz_common::properties::IntProperty(
-    "Left", 128, "Left of the plotter window", this, SLOT(updateVisualization()), this);
+    "Left", left, "Left of the plotter window", this, SLOT(updateVisualization()), this);
   property_left_->setMin(0);
   property_top_ = new rviz_common::properties::IntProperty(
-    "Top", 128, "Top of the plotter window", this, SLOT(updateVisualization()));
+    "Top", top, "Top of the plotter window", this, SLOT(updateVisualization()));
   property_top_->setMin(0);
 
   property_length_ = new rviz_common::properties::IntProperty(
-    "Length", 256, "Length of the plotter window", this, SLOT(updateVisualization()), this);
+    "Length", length, "Length of the plotter window", this, SLOT(updateVisualization()), this);
   property_length_->setMin(10);
   property_value_height_offset_ = new rviz_common::properties::IntProperty(
     "Value height offset", 0, "Height offset of the plotter window", this,

common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp

@@ -18,6 +18,8 @@
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rviz_common/uniform_string_stream.hpp>
 
+#include <X11/Xlib.h>
+
 #include <algorithm>
 #include <iomanip>
 #include <memory>
@@ -31,17 +33,25 @@ SteeringAngleDisplay::SteeringAngleDisplay()
                   "/images/handle.png")
                   .c_str())
 {
+  const Screen * screen_info = DefaultScreenOfDisplay(XOpenDisplay(NULL));
+
+  constexpr float hight_4k = 2160.0;
+  const float scale = static_cast<float>(screen_info->height) / hight_4k;
+  const auto left = static_cast<int>(std::round(128 * scale));
+  const auto top = static_cast<int>(std::round(128 * scale));
+  const auto length = static_cast<int>(std::round(256 * scale));
+
   property_text_color_ = new rviz_common::properties::ColorProperty(
     "Text Color", QColor(25, 255, 240), "text color", this, SLOT(updateVisualization()), this);
   property_left_ = new rviz_common::properties::IntProperty(
-    "Left", 128, "Left of the plotter window", this, SLOT(updateVisualization()), this);
+    "Left", left, "Left of the plotter window", this, SLOT(updateVisualization()), this);
   property_left_->setMin(0);
   property_top_ = new rviz_common::properties::IntProperty(
-    "Top", 128, "Top of the plotter window", this, SLOT(updateVisualization()));
+    "Top", top, "Top of the plotter window", this, SLOT(updateVisualization()));
   property_top_->setMin(0);
 
   property_length_ = new rviz_common::properties::IntProperty(
-    "Length", 256, "Length of the plotter window", this, SLOT(updateVisualization()), this);
+    "Length", length, "Length of the plotter window", this, SLOT(updateVisualization()), this);
   property_length_->setMin(10);
   property_value_height_offset_ = new rviz_common::properties::IntProperty(
     "Value height offset", 0, "Height offset of the plotter window", this,

common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp

@@ -18,22 +18,33 @@
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rviz_common/uniform_string_stream.hpp>
 
+#include <X11/Xlib.h>
+
 namespace rviz_plugins
 {
 TurnSignalDisplay::TurnSignalDisplay()
 {
+  const Screen * screen_info = DefaultScreenOfDisplay(XOpenDisplay(NULL));
+
+  constexpr float hight_4k = 2160.0;
+  const float scale = static_cast<float>(screen_info->height) / hight_4k;
+  const auto left = static_cast<int>(std::round(196 * scale));
+  const auto top = static_cast<int>(std::round(350 * scale));
+  const auto width = static_cast<int>(std::round(512 * scale));
+  const auto height = static_cast<int>(std::round(256 * scale));
+
   property_left_ = new rviz_common::properties::IntProperty(
-    "Left", 128, "Left of the plotter window", this, SLOT(updateVisualization()), this);
+    "Left", left, "Left of the plotter window", this, SLOT(updateVisualization()), this);
   property_left_->setMin(0);
   property_top_ = new rviz_common::properties::IntProperty(
-    "Top", 128, "Top of the plotter window", this, SLOT(updateVisualization()));
+    "Top", top, "Top of the plotter window", this, SLOT(updateVisualization()));
   property_top_->setMin(0);
 
   property_width_ = new rviz_common::properties::IntProperty(
-    "Width", 256, "Width of the plotter window", this, SLOT(updateVisualization()), this);
+    "Width", width, "Width of the plotter window", this, SLOT(updateVisualization()), this);
   property_width_->setMin(10);
   property_height_ = new rviz_common::properties::IntProperty(
-    "Height", 256, "Height of the plotter window", this, SLOT(updateVisualization()), this);
+    "Height", height, "Height of the plotter window", this, SLOT(updateVisualization()), this);
   property_height_->setMin(10);
 }